This repository contains implementations of core algorithms used in the tbai ecosystems. For deployment and use with specific robotics frameworks, including ROS and ROS2, thin wrapper repositories are available: tbai_ros and tbai_ros2
- tbai_ros - a ROS-noetic wrapper around tbai, uses pixi for dependency management, so no worries that ROS is past its end of life :) - works on many Ubuntu releases, including Ubuntu 24.04
- tbai_ros2 - a ROS2-jazzy wrapper around tbai, uses pixi for dependency management - works on many Ubuntu releases, including Ubuntu 20.04, Ubuntu 22.04 and Ubuntu 24.04
pixi install && pixi shell
mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release
make -j10
| Environment Variable | Type | Default | Description | Usage |
|---|---|---|---|---|
TBAI_LOG_LEVEL |
string |
"info" |
Logging level | Log verbosity. Values: "trace", "debug", "info", "warn", "error", "critical" |
TBAI_LOG_FOLDER |
string |
"" (empty) |
Log file directory. No file logging if empty | Logs saved here if set |
TBAI_LOG_TO_CONSOLE |
bool |
true |
Log to console | Show logs in terminal |
TBAI_GLOBAL_CONFIG_PATH |
string |
Required | Global config file path | Main YAML config file |
TBAI_ROBOT_DESCRIPTION_PATH |
string |
Required | Robot URDF path | Robot model file |
TBAI_CACHE_DIR |
string |
"/tmp/tbai_hf_cache" |
Model cache directory | For downloaded models |
This project stands on the shoulders of giants. None of this would have been possible were it not for many amazing open-source projects. Here are a couple that most inspiration was drawn from and that were instrumental during the development:
- https://github.com/leggedrobotics/ocs2
- https://github.com/qiayuanl/legged_control
- https://github.com/leggedrobotics/legged_gym
- https://github.com/leggedrobotics/rsl_rl
- https://github.com/ANYbotics/elevation_mapping
- https://github.com/leggedrobotics/elevation_mapping_cupy
- https://github.com/bernhardpg/quadruped_locomotion
- https://github.com/stack-of-tasks/pinocchio
- https://x-io.co.uk/open-source-imu-and-ahrs-algorithms/
- https://github.com/mayataka/robotoc
- https://github.com/mayataka/legged_state_estimator
- https://github.com/RossHartley/invariant-ekf
- https://github.com/dfki-ric-underactuated-lab/dfki-quad
- https://github.com/iit-DLSLab/muse
- https://github.com/zeonsunlightyu/LocomotionWithNP3O
- https://github.com/letaicodeit/DreamWaQ_Go2W
- https://cmp.felk.cvut.cz/~peckama2/ (supervision, access to a DGX station)
- http://www.michaelsebek.cz/cs
- https://github.com/HansZ8/RoboJuDo
- https://github.com/HybridRobotics/motion_tracking_controller
- https://hier-robotics.github.io/ (professor Jaemin Lee, supervision, access to Go2s)
- hundreds of others ...
Thank you all 🤗